📄 opc_spherecollider.cpp

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		if(ContactFound()) return;

		_Collide(node->GetNeg());
	}
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Recursive collision query for normal AABB trees, without primitive tests.
 *	\param		node	[in] current collision node
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void SphereCollider::_CollideNoPrimitiveTest(const AABBCollisionNode* node)
{
	// Perform Sphere-AABB overlap test
	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;

	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)

	if(node->IsLeaf())
	{
		SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
	}
	else
	{
		_CollideNoPrimitiveTest(node->GetPos());

		if(ContactFound()) return;

		_CollideNoPrimitiveTest(node->GetNeg());
	}
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Recursive collision query for quantized AABB trees.
 *	\param		node	[in] current collision node
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void SphereCollider::_Collide(const AABBQuantizedNode* node)
{
	// Dequantize box
	const QuantizedAABB& Box = node->mAABB;
	const IceMaths::Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
	const IceMaths::Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);

	// Perform Sphere-AABB overlap test
	if(!SphereAABBOverlap(Center, Extents))	return;

	TEST_BOX_IN_SPHERE(Center, Extents)

	if(node->IsLeaf())
	{
		SPHERE_PRIM(node->GetPrimitive(), OPC_CONTACT)
	}
	else
	{
		_Collide(node->GetPos());

		if(ContactFound()) return;

		_Collide(node->GetNeg());
	}
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Recursive collision query for quantized AABB trees, without primitive tests.
 *	\param		node	[in] current collision node
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNode* node)
{
	// Dequantize box
	const QuantizedAABB& Box = node->mAABB;
	const IceMaths::Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
	const IceMaths::Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);

	// Perform Sphere-AABB overlap test
	if(!SphereAABBOverlap(Center, Extents))	return;

	TEST_BOX_IN_SPHERE(Center, Extents)

	if(node->IsLeaf())
	{
		SET_CONTACT(node->GetPrimitive(), OPC_CONTACT)
	}
	else
	{
		_CollideNoPrimitiveTest(node->GetPos());

		if(ContactFound()) return;

		_CollideNoPrimitiveTest(node->GetNeg());
	}
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Recursive collision query for no-leaf AABB trees.
 *	\param		node	[in] current collision node
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void SphereCollider::_Collide(const AABBNoLeafNode* node)
{
	// Perform Sphere-AABB overlap test
	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;

	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)

	if(node->HasPosLeaf())	{ SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
	else					_Collide(node->GetPos());

	if(ContactFound()) return;

	if(node->HasNegLeaf())	{ SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
	else					_Collide(node->GetNeg());
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Recursive collision query for no-leaf AABB trees, without primitive tests.
 *	\param		node	[in] current collision node
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void SphereCollider::_CollideNoPrimitiveTest(const AABBNoLeafNode* node)
{
	// Perform Sphere-AABB overlap test
	if(!SphereAABBOverlap(node->mAABB.mCenter, node->mAABB.mExtents))	return;

	TEST_BOX_IN_SPHERE(node->mAABB.mCenter, node->mAABB.mExtents)

	if(node->HasPosLeaf())	{ SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
	else					_CollideNoPrimitiveTest(node->GetPos());

	if(ContactFound()) return;

	if(node->HasNegLeaf())	{ SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
	else					_CollideNoPrimitiveTest(node->GetNeg());
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Recursive collision query for quantized no-leaf AABB trees.
 *	\param		node	[in] current collision node
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void SphereCollider::_Collide(const AABBQuantizedNoLeafNode* node)
{
	// Dequantize box
	const QuantizedAABB& Box = node->mAABB;
	const IceMaths::Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
	const IceMaths::Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);

	// Perform Sphere-AABB overlap test
	if(!SphereAABBOverlap(Center, Extents))	return;

	TEST_BOX_IN_SPHERE(Center, Extents)

	if(node->HasPosLeaf())	{ SPHERE_PRIM(node->GetPosPrimitive(), OPC_CONTACT) }
	else					_Collide(node->GetPos());

	if(ContactFound()) return;

	if(node->HasNegLeaf())	{ SPHERE_PRIM(node->GetNegPrimitive(), OPC_CONTACT) }
	else					_Collide(node->GetNeg());
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Recursive collision query for quantized no-leaf AABB trees, without primitive tests.
 *	\param		node	[in] current collision node
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void SphereCollider::_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node)
{
	// Dequantize box
	const QuantizedAABB& Box = node->mAABB;
	const IceMaths::Point Center(float(Box.mCenter[0]) * mCenterCoeff.x, float(Box.mCenter[1]) * mCenterCoeff.y, float(Box.mCenter[2]) * mCenterCoeff.z);
	const IceMaths::Point Extents(float(Box.mExtents[0]) * mExtentsCoeff.x, float(Box.mExtents[1]) * mExtentsCoeff.y, float(Box.mExtents[2]) * mExtentsCoeff.z);

	// Perform Sphere-AABB overlap test
	if(!SphereAABBOverlap(Center, Extents))	return;

	TEST_BOX_IN_SPHERE(Center, Extents)

	if(node->HasPosLeaf())	{ SET_CONTACT(node->GetPosPrimitive(), OPC_CONTACT) }
	else					_CollideNoPrimitiveTest(node->GetPos());

	if(ContactFound()) return;

	if(node->HasNegLeaf())	{ SET_CONTACT(node->GetNegPrimitive(), OPC_CONTACT) }
	else					_CollideNoPrimitiveTest(node->GetNeg());
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Recursive collision query for vanilla AABB trees.
 *	\param		node	[in] current collision node
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void SphereCollider::_Collide(const AABBTreeNode* node)
{
	// Perform Sphere-AABB overlap test
	IceMaths::Point Center, Extents;
	node->GetAABB()->GetCenter(Center);
	node->GetAABB()->GetExtents(Extents);
	if(!SphereAABBOverlap(Center, Extents))	return;	

	if(node->IsLeaf() || SphereContainsBox(Center, Extents))
	{
		mFlags |= OPC_CONTACT;
		mTouchedPrimitives->Add(node->GetPrimitives(), node->GetNbPrimitives());
	}
	else
	{
		_Collide(node->GetPos());
		_Collide(node->GetNeg());
	}
}







///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Constructor.
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
HybridSphereCollider::HybridSphereCollider()
{
}

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Destructor.
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
HybridSphereCollider::~HybridSphereCollider()
{
}

bool HybridSphereCollider::Collide(SphereCache& cache, const IceMaths::Sphere& sphere, const HybridModel& model, const IceMaths::Matrix4x4* worlds, const IceMaths::Matrix4x4* worldm)
{
	// We don't want primitive tests here!
	mFlags |= OPC_NO_PRIMITIVE_TESTS;

	// Checkings
	if(!Setup(&model))	return false;

	// Init collision query
	if(InitQuery(cache, sphere, worlds, worldm))	return true;

	// Special case for 1-leaf trees
	if(mCurrentModel && mCurrentModel->HasSingleNode())
	{
		// Here we're supposed to perform a normal query, except our tree has a single node, i.e. just a few triangles
		udword Nb = mIMesh->GetNbTriangles();

		// Loop through all triangles
		for(udword i=0;i<Nb;i++)
		{
			SPHERE_PRIM(i, OPC_CONTACT)
		}
		return true;
	}

	// Override destination array since we're only going to get leaf boxes here
	mTouchedBoxes.Reset();
	mTouchedPrimitives = &mTouchedBoxes;

	// Now, do the actual query against leaf boxes
	if(!model.HasLeafNodes())
	{
		if(model.IsQuantized())
		{
			const AABBQuantizedNoLeafTree* Tree = (const AABBQuantizedNoLeafTree*)model.GetTree();

			// Setup dequantization coeffs
			mCenterCoeff	= Tree->mCenterCoeff;
			mExtentsCoeff	= Tree->mExtentsCoeff;

			// Perform collision query - we don't want primitive tests here!
			_CollideNoPrimitiveTest(Tree->GetNodes());
		}
		else
		{
			const AABBNoLeafTree* Tree = (const AABBNoLeafTree*)model.GetTree();

			// Perform collision query - we don't want primitive tests here!
			_CollideNoPrimitiveTest(Tree->GetNodes());
		}
	}
	else
	{
		if(model.IsQuantized())
		{
			const AABBQuantizedTree* Tree = (const AABBQuantizedTree*)model.GetTree();

			// Setup dequantization coeffs
			mCenterCoeff	= Tree->mCenterCoeff;
			mExtentsCoeff	= Tree->mExtentsCoeff;

			// Perform collision query - we don't want primitive tests here!
			_CollideNoPrimitiveTest(Tree->GetNodes());
		}
		else
		{
			const AABBCollisionTree* Tree = (const AABBCollisionTree*)model.GetTree();

			// Perform collision query - we don't want primitive tests here!
			_CollideNoPrimitiveTest(Tree->GetNodes());
		}
	}

	// We only have a list of boxes so far
	if(GetContactStatus())
	{
		// Reset contact status, since it currently only reflects collisions with leaf boxes
		Collider::InitQuery();

		// Change dest container so that we can use built-in overlap tests and get collided primitives
		cache.TouchedPrimitives.Reset();
		mTouchedPrimitives = &cache.TouchedPrimitives;

		// Read touched leaf boxes
		udword Nb = mTouchedBoxes.GetNbEntries();
		const udword* Touched = mTouchedBoxes.GetEntries();

		const LeafTriangles* LT = model.GetLeafTriangles();
		const udword* Indices = model.GetIndices();

		// Loop through touched leaves
		while(Nb--)
		{
			const LeafTriangles& CurrentLeaf = LT[*Touched++];

			// Each leaf box has a set of triangles
			udword NbTris = CurrentLeaf.GetNbTriangles();
			if(Indices)
			{
				const udword* T = &Indices[CurrentLeaf.GetTriangleIndex()];

				// Loop through triangles and test each of them
				while(NbTris--)
				{
					udword TriangleIndex = *T++;
					SPHERE_PRIM(TriangleIndex, OPC_CONTACT)
				}
			}
			else
			{
				udword BaseIndex = CurrentLeaf.GetTriangleIndex();

				// Loop through triangles and test each of them
				while(NbTris--)
				{
					udword TriangleIndex = BaseIndex++;
					SPHERE_PRIM(TriangleIndex, OPC_CONTACT)
				}
			}
		}
	}

	return true;
}
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